title: Novel intelligent real-time position tracking system using FPGA and fuzzy logic.
abstract: The main aim of this paper is to test if FPGAs are able to achieve better position tracking performance than software-based soft real-time platforms. For comparison purposes, the same controller design was implemented in these architectures. A Multi-state Fuzzy Logic controller (FLC) was implemented both in a Xilinx(®) Virtex-II FPGA (XC2v1000) and in a soft real-time platform NI CompactRIO(®)-9002. The same sampling time was used. The comparative tests were conducted using a servo-pneumatic actuation system. Steady-state errors lower than 4 μm were reached for an arbitrary vertical positioning of a 6.2 kg mass when the controller was embedded into the FPGA platform. Performance gains up to 16 times in the steady-state error, up to 27 times in the overshoot and up to 19.5 times in the settling time were achieved by using the FPGA-based controller over the software-based FLC controller.
authors.affiliation: Centre for Mechanical Technology & Automation (TEMA), Department of Mechanical Engineering, University of Aveiro, Campo Universitário de Santiago, 3810-193 Aveiro, Portugal. Electronic address: marco.santos@ua.pt.
authors.forename: Marco P
authors.initials: MP
authors.lastname: Soares dos Santos
authors.affiliation: Centre for Mechanical Technology & Automation (TEMA), Department of Mechanical Engineering, University of Aveiro, Campo Universitário de Santiago, 3810-193 Aveiro, Portugal. Electronic address: jaff@ua.pt.
authors.forename: J A F
authors.initials: JA
authors.lastname: Ferreira
keywords: Automation; Control; Field programmable gate array; Fuzzy logic; Pneumatics; Position tracking; Real-time control systems